Update FANUC launch file and cleanup of deprecated XML files

[stephanie-eng]

Should resolve #115 for the FANUC packages

[DLu]

Per the conversation on #124 can you rename two files please?

[DLu]

Who else needs to review this before it can get merged?

[vatanaksoytezer]

We need to test moveit2 against these changes to be sure. I know there are some tests that was using some config files changed here. I'm happy to approve and merge if someone does it for me. Else, I'll test myself in the earliest opportunity this week.

[henningkayser]

Looks good to me, only a minor change needed (just tested with Rolling+Jammy). Also, it would be nice if RViz would come up with the MotionPlanning panel already loaded.

.. thanks @vatanaksoytezer for the reminder. Just ran colcon test and it wasn't too happy. Found some issues with moveit_ros_planning.

This doesn't seem related to this PR, though:

build/moveit_ros_planning/Testing/20220331-1613/Test.xml: 6 tests, 0 errors, 1 failure, 0 skipped
- rdf_loader_test_launch_test_rdf_integration.test.py
  <<< failure message
    -- run_test.py: invoking following command in '/home/ubuntu/ws_ros2/build/moveit_ros_planning/rdf_loader':
     - ros2 test /home/ubuntu/ws_ros2/src/moveit2/moveit_ros/planning/rdf_loader/test/launch/test_rdf_integration.test.py --junit-xml=/home/ubuntu/ws_ros2/build/moveit_ros_planning/test_results/moveit_ros_planning/rdf_loader_test_launch_test_rdf_integration.test.py.xunit.xml --package-name=moveit_ros_planning
    Running with ROS_DOMAIN_ID 1
    ROS_DOMAIN_ID 1
    [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-03-31-16-13-27-947383-moveit2-rolling-89270
    [INFO] [launch]: Default logging verbosity is set to INFO
    test_gtest_run_complete (moveit_ros_planning.TestGTestWaitForCompletion) ... [INFO] [test_rdf_integration-1]: process started with pid [89272]
    [INFO] [boring_string_publisher-2]: process started with pid [89274]
    [INFO] [boring_string_publisher-3]: process started with pid [89276]
    [test_rdf_integration-1] [INFO] [1648743208.044980655] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.000971551 seconds
    [test_rdf_integration-1] [ERROR] [1648743218.057996310] [non_existent]: Could not find parameter does_not_exist and did not receive does_not_exist via std_msgs::msg::String subscription within 10.000000 seconds.
    [test_rdf_integration-1] Error:   Error document empty.
    [test_rdf_integration-1]          at line 100 in ./urdf_parser/src/model.cpp
    [test_rdf_integration-1] Failed to parse robot description using: urdf_xml_parser/URDFXMLParser
    [test_rdf_integration-1] [INFO] [1648743228.065868646] [moveit_rdf_loader.rdf_loader]: Unable to parse URDF
    [test_rdf_integration-1] [INFO] [1648743228.104194903] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0304057 seconds
    [test_rdf_integration-1] [INFO] [1648743228.143666381] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0313178 seconds
    [test_rdf_integration-1] cannot publish data, at ./src/rmw_publish.cpp:59 during '__function__'
    [test_rdf_integration-1] Fail in delete datareader, at ./src/rmw_service.cpp:103 during '__function__'
    [test_rdf_integration-1] [ERROR] [1648743228.264111165] [executor.rclcpp]: Error in destruction of rcl service handle: Fail in delete datawriter, at ./src/rmw_service.cpp:117, at ./src/rcl/service.c:198
    [test_rdf_integration-1] cannot publish data, at ./src/rmw_publish.cpp:59 during '__function__'
    [test_rdf_integration-1] Fail in delete datareader, at ./src/rmw_service.cpp:103 during '__function__'
    [test_rdf_integration-1] [ERROR] [1648743228.264135785] [executor.rclcpp]: Error in destruction of rcl service handle: Fail in delete datawriter, at ./src/rmw_service.cpp:117, at ./src/rcl/service.c:198
    [test_rdf_integration-1] cannot publish data, at ./src/rmw_publish.cpp:59 during '__function__'
    [test_rdf_integration-1] Fail in delete datareader, at ./src/rmw_service.cpp:103 during '__function__'
    [test_rdf_integration-1] [ERROR] [1648743228.264148655] [executor.rclcpp]: Error in destruction of rcl service handle: Fail in delete datawriter, at ./src/rmw_service.cpp:117, at ./src/rcl/service.c:198
    [test_rdf_integration-1] cannot publish data, at ./src/rmw_publish.cpp:59 during '__function__'
    [test_rdf_integration-1] Fail in delete datareader, at ./src/rmw_service.cpp:103 during '__function__'
    [test_rdf_integration-1] [ERROR] [1648743228.264290873] [executor.rclcpp]: Error in destruction of rcl service handle: Fail in delete datawriter, at ./src/rmw_service.cpp:117, at ./src/rcl/service.c:198
    [test_rdf_integration-1] cannot publish data, at ./src/rmw_publish.cpp:59 during '__function__'
    [test_rdf_integration-1] Fail in delete datareader, at ./src/rmw_service.cpp:103 during '__function__'
    [test_rdf_integration-1] [ERROR] [1648743228.264302943] [executor.rclcpp]: Error in destruction of rcl service handle: Fail in delete datawriter, at ./src/rmw_service.cpp:117, at ./src/rcl/service.c:198
    [test_rdf_integration-1] cannot publish data, at ./src/rmw_publish.cpp:59 during '__function__'
    [test_rdf_integration-1] Fail in delete datareader, at ./src/rmw_service.cpp:103 during '__function__'
    [test_rdf_integration-1] [ERROR] [1648743228.264313913] [executor.rclcpp]: Error in destruction of rcl service handle: Fail in delete datawriter, at ./src/rmw_service.cpp:117, at ./src/rcl/service.c:198
    [test_rdf_integration-1] Failed to delete datawriter, at ./src/publisher.cpp:48 during '__function__'
    [test_rdf_integration-1] [ERROR] [1648743228.264327863] [executor.rclcpp]: Error in destruction of rcl publisher handle: cannot publish data, at ./src/rmw_publish.cpp:59, at ./src/rcl/publisher.c:187
    [test_rdf_integration-1] 
    [test_rdf_integration-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
    [test_rdf_integration-1] This error state is being overwritten:
    [test_rdf_integration-1] 
    [test_rdf_integration-1]   'cannot publish data, at ./src/rmw_publish.cpp:59'
    [test_rdf_integration-1] 
    [test_rdf_integration-1] with this new error message:
    [test_rdf_integration-1] 
    [test_rdf_integration-1]   'Failed to delete datareader, at ./src/subscription.cpp:54'
    [test_rdf_integration-1] 
    [test_rdf_integration-1] rcutils_reset_error() should be called after error handling to avoid this.
    [test_rdf_integration-1] <<<
    [test_rdf_integration-1] __function__:79: 'destroy_subscription' failed
    [test_rdf_integration-1] Failed to delete dds publisher from participantFailed to delete dds subscriber from participantStack trace (most recent call last) in thread 89332:
    [test_rdf_integration-1] #17   Object "", at 0xffffffffffffffff, in 
    [test_rdf_integration-1] #16   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f331db1f9ff, in 
    [test_rdf_integration-1] #15   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f331da8db42, in 
    [test_rdf_integration-1] #14   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f331dd1f2cb, in 
    [test_rdf_integration-1] #13   Object "/home/ubuntu/ws_ros2/install/moveit_ros_planning/lib/moveit_ros_planning/test_rdf_integration", at 0x56183b61e8df, in std::thread::_State_impl<std::thread::_Invoker<std::tuple<RDFIntegration_executor_Test::TestBody()::$_0> > >::~_State_impl()
    [test_rdf_integration-1] #12   Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f331df60cce, in rclcpp::Node::~Node()
    [test_rdf_integration-1] #11   Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f331df3adf9, in 
    [test_rdf_integration-1] #10   Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f331df62229, in 
    [test_rdf_integration-1] #9    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f331df6217e, in rclcpp::node_interfaces::NodeBase::~NodeBase()
    [test_rdf_integration-1] #8    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f331df3adf9, in 
    [test_rdf_integration-1] #7    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f331df619e4, in 
    [test_rdf_integration-1] #6    Object "/opt/ros/rolling/lib/librclcpp.so", at 0x7f331df61871, in 
    [test_rdf_integration-1] #5    Object "/opt/ros/rolling/lib/librcl.so", at 0x7f331c69d337, in rcl_node_fini
    [test_rdf_integration-1] #4    Object "/opt/ros/rolling/lib/librmw_fastrtps_cpp.so", at 0x7f331718afc6, in rmw_destroy_node
    [test_rdf_integration-1] #3    Object "/opt/ros/rolling/lib/librmw_fastrtps_shared_cpp.so", at 0x7f3317136867, in rmw_fastrtps_shared_cpp::decrement_context_impl_ref_count(rmw_context_s*)
    [test_rdf_integration-1] #2    Object "/opt/ros/rolling/lib/librmw_fastrtps_shared_cpp.so", at 0x7f331713653f, in rmw_fastrtps_shared_cpp::destroy_participant(CustomParticipantInfo*)
    [test_rdf_integration-1] #1    Object "/opt/ros/rolling/lib/libfastrtps.so.2.6.0", at 0x7f3316c45288, in eprosima::fastdds::dds::DomainParticipantFactory::delete_participant(eprosima::fastdds::dds::DomainParticipant*)
    [test_rdf_integration-1] #0    Object "/opt/ros/rolling/lib/libfastrtps.so.2.6.0", at 0x7f3316c54244, in eprosima::fastdds::dds::DomainParticipantImpl::has_active_entities()
    [test_rdf_integration-1] Segmentation fault (Address not mapped to object [0x468])
    [ERROR] [test_rdf_integration-1]: process has died [pid 89272, exit code -11, cmd '/home/ubuntu/ws_ros2/install/moveit_ros_planning/lib/moveit_ros_planning/test_rdf_integration --ros-args --params-file /tmp/launch_params_sus_v5wp'].
    ok
    
    ----------------------------------------------------------------------
    Ran 1 test in 20.365s
    
    OK
    [INFO] [boring_string_publisher-3]: sending signal 'SIGINT' to process[boring_string_publisher-3]
    [INFO] [boring_string_publisher-2]: sending signal 'SIGINT' to process[boring_string_publisher-2]
    [boring_string_publisher-3] [INFO] [1648743228.347560438] [rclcpp]: signal_handler(signum=2)
    [boring_string_publisher-2] [INFO] [1648743228.347853895] [rclcpp]: signal_handler(signum=2)
    [INFO] [boring_string_publisher-2]: process has finished cleanly [pid 89274]
    [INFO] [boring_string_publisher-3]: process has finished cleanly [pid 89276]
    test_gtest_pass (moveit_ros_planning.TestGTestProcessPostShutdown) ... FAIL
    
    ======================================================================
    FAIL: test_gtest_pass (moveit_ros_planning.TestGTestProcessPostShutdown)
    ----------------------------------------------------------------------
    Traceback (most recent call last):
      File "/home/ubuntu/ws_ros2/src/moveit2/moveit_ros/planning/rdf_loader/test/launch/test_rdf_integration.test.py", line 78, in test_gtest_pass
        launch_testing.asserts.assertExitCodes(proc_info, process=integration_node)
      File "/opt/ros/rolling/lib/python3.10/site-packages/launch_testing/asserts/assert_exit_codes.py", line 62, in assertExitCodes
        assert info.returncode in allowable_exit_codes, 'Proc {} exited with code {}'.format(
    AssertionError: Proc test_rdf_integration-1 exited with code -11
    
    ----------------------------------------------------------------------
    Ran 1 test in 0.001s
    
    FAILED (failures=1)
    -- run_test.py: return code 1
    -- run_test.py: verify result file '/home/ubuntu/ws_ros2/build/moveit_ros_planning/test_results/moveit_ros_planning/rdf_loader_test_launch_test_rdf_integration.test.py.xunit.xml'
  >>>
build/moveit_ros_planning/test_results/moveit_ros_planning/rdf_loader_test_launch_test_rdf_integration.test.py.xunit.xml: 2 tests, 0 errors, 1 failure, 0 skipped
- moveit_ros_planning.TestGTestProcessPostShutdown test_gtest_pass
  <<< failure message
    Traceback (most recent call last):
      File "/home/ubuntu/ws_ros2/src/moveit2/moveit_ros/planning/rdf_loader/test/launch/test_rdf_integration.test.py", line 78, in test_gtest_pass
        launch_testing.asserts.assertExitCodes(proc_info, process=integration_node)
      File "/opt/ros/rolling/lib/python3.10/site-packages/launch_testing/asserts/assert_exit_codes.py", line 62, in assertExitCodes
        assert info.returncode in allowable_exit_codes, 'Proc {} exited with code {}'.format(
    AssertionError: Proc test_rdf_integration-1 exited with code -11
  >>>

Summary: 781 tests, 0 errors, 2 failures, 3 skipped

[DLu]

@henningkayser Are we waiting on anything else here?